Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator

Teh-Lu Liao, Li Chen Fu, Chen Fa Hsu

研究成果: Article同行評審

28 引文 斯高帕斯(Scopus)

摘要

The adaptive robust output tracking for a class of nonlinear systems is considered. Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed loop system asymptotically track the given output trajectories despite the uncertainties, and the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two degree-of-freedom (DOF) robotic manipulator with unknown payload.

原文English
頁(從 - 到)339-348
頁數10
期刊Systems and Control Letters
15
發行號4
DOIs
出版狀態Published - 1990 一月 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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